Is there a tool or method to get the set of witnesses (public keys) of a transaction given the transaction ID?

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If you have the Tx file, you can use $ cardano-cli transaction view --tx-body-file tx.raw to view the witness set. But, if you specifically want to extract from a given Tx ID, you can extract the witnesses' information through their input UTxO. The UTxO contains an address that is made up of a hashed public key, and from there you can list the public key hash needed for this transaction, also known as the witnesses required

Edit: According to this thread the witness information is actually in the blockchain, but not currently possible to extract it using db-sync. Reference to this specification for proof that the blockchain indeed stored the witnesses' key

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